The invention discloses a humanoid upper limb based on pneumatic muscle. The pneumatic muscle simulates human muscle for driving a shoulder joint, an elbow joint and a wrist joint to move, and the function of completely simulating the motion of the upper limb of a person is achieved. The humanoid upper limb is composed of a rib, a vertebra, a shoulder blade, a humerus, a fibula, an ulna, a spherical hinge, the pneumatic muscle and a pneumatic muscle fixing plate; the pneumatic muscle of a humanoid upper limb girdle muscle drives the shoulder joint to retract and stretch, bend and extend, inwards rotate and outwards rotate; arm muscle drives the elbow joint to bend and extend, inwards rotate and outwards rotate, and meanwhile the arm muscle and the upper limb girdle muscle cooperatively drive the shoulder joint to inwards retract, outwards stretch, inwards rotate and outwards rotate; and forearm muscle drives the wrist joint to bend and extend and retract and stretch and drives the elbow joint to bend and extend, inwards rotate and outwards rotate. The humanoid upper limb is driven by the pneumatic muscle, has the beneficial effects of being compact in structure, clean and good in anti-explosion performance, and can be used for teaching demonstration, medicinal diagnosis and scientific research.